Installation manual

Chapter 7 Library Reference
7-
23
PA library data structure (for Windows Visual BASIC)
・Sensor correction data structure:
Type TRANSMAT
Enable As Long Designation bit
xyz11(2) As Single Mechanical interface coordinate absolute deviation
correction value
xyz12(2) As Single Mechanical interface coordinate relative deviation
correction value
xyz21(2) As Single Base coordinate absolute deviation correction value
xyz22(2) As Single Base coordinate relative deviation correction value
wave1(2) As Single Trajectory coordinate absolute deviation correction
value
wave2(2) As Single Trajectory coordinate relative deviation correction
value
End Type
・Arm target value structure:
Type ARMTARGET
agl As ANGLE Target angle
noap(3, 2) As Single Target tip position/orientation
ypr(2) As Single Target tip orientation
End Type
・Structure to send commands from the motion control to the servo driver:
Type O8DRIVE
sig As Long
trq As Long
vel As Long
End Type
・Structure to send commands from the servo driver to the motion control:
Type I8DRIVE
sts As Long
agl As Long
vel As Long
trq As Long
End Type